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Merge IntersectionShapeData and IntersectionEdgeGeometry

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This commit is contained in:
Michael Krasnyk
2018-02-16 09:39:38 +01:00
parent 0f93a7dd05
commit 0fc8b6289c
14 changed files with 103 additions and 106 deletions
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src/extractor/intersection/intersection.cpp
+4 -4
View File
@@ -19,10 +19,10 @@ bool IntersectionViewData::CompareByAngle(const IntersectionViewData &other) con
return angle < other.angle;
}
std::string toString(const IntersectionShapeData &shape)
std::string toString(const IntersectionEdgeGeometry &shape)
{
std::string result =
"[shape] " + std::to_string(shape.eid) + " bearing: " + std::to_string(shape.bearing);
std::string result = "[shape] " + std::to_string(shape.eid) + " bearing: " +
std::to_string(shape.perceived_bearing);
return result;
}
@@ -35,7 +35,7 @@ std::string toString(const IntersectionViewData &view)
result += " angle: ";
result += std::to_string(view.angle);
result += " bearing: ";
result += std::to_string(view.bearing);
result += std::to_string(view.perceived_bearing);
return result;
}
src/extractor/intersection/intersection_analysis.cpp
+19 -26
View File
@@ -120,9 +120,9 @@ std::pair<bool, double> findMergedBearing(const util::NodeBasedDynamicGraph &gra
const auto &lhs = edge_geometries[lhs_index];
const auto &rhs = edge_geometries[rhs_index];
BOOST_ASSERT(graph.GetEdgeData(lhs.edge).reversed != graph.GetEdgeData(rhs.edge).reversed);
BOOST_ASSERT(graph.GetEdgeData(lhs.eid).reversed != graph.GetEdgeData(rhs.eid).reversed);
const auto &entry = graph.GetEdgeData(lhs.edge).reversed ? rhs : lhs;
const auto &entry = graph.GetEdgeData(lhs.eid).reversed ? rhs : lhs;
const auto opposite_bearing =
findClosestOppositeBearing(edge_geometries, entry.perceived_bearing);
const auto merged_bearing = findAngleBisector(rhs.perceived_bearing, lhs.perceived_bearing);
@@ -178,13 +178,8 @@ bool isRoadsPairMergeable(const MergableRoadDetector &detector,
// TODO: check IsDistinctFrom - it is an angle and name-only check
// also check CanMergeRoad for all merging scenarios
return detector.IsDistinctFrom({llhs.edge, llhs.perceived_bearing, llhs.length},
{lhs.edge, lhs.perceived_bearing, lhs.length}) &&
detector.CanMergeRoad(intersection_node,
{lhs.edge, lhs.perceived_bearing, lhs.length},
{rhs.edge, rhs.perceived_bearing, rhs.length}) &&
detector.IsDistinctFrom({rhs.edge, rhs.perceived_bearing, rhs.length},
{rrhs.edge, rrhs.perceived_bearing, rrhs.length});
return detector.IsDistinctFrom(llhs, lhs) &&
detector.CanMergeRoad(intersection_node, lhs, rhs) && detector.IsDistinctFrom(rhs, rrhs);
}
auto getIntersectionLanes(const util::NodeBasedDynamicGraph &graph, const NodeID intersection_node)
@@ -293,9 +288,9 @@ getIntersectionGeometries(const util::NodeBasedDynamicGraph &graph,
// Only one of the edges must be reversed, mark it as merged to remove from
// intersection view
BOOST_ASSERT(graph.GetEdgeData(lhs.edge).reversed ^
graph.GetEdgeData(rhs.edge).reversed);
merged_edge_ids.insert(graph.GetEdgeData(lhs.edge).reversed ? lhs.edge : rhs.edge);
BOOST_ASSERT(graph.GetEdgeData(lhs.eid).reversed ^
graph.GetEdgeData(rhs.eid).reversed);
merged_edge_ids.insert(graph.GetEdgeData(lhs.eid).reversed ? lhs.eid : rhs.eid);
}
}
}
@@ -310,10 +305,10 @@ getIntersectionGeometries(const util::NodeBasedDynamicGraph &graph,
// Don't adjust bearings of roads that were merged at the current intersection
// or have neighbor intersection farer than the pruning distance
if (merged_edges[index] || edge_geometry.length > PRUNING_DISTANCE)
if (merged_edges[index] || edge_geometry.segment_length > PRUNING_DISTANCE)
continue;
const auto neighbor_intersection_node = graph.GetTarget(edge_geometry.edge);
const auto neighbor_intersection_node = graph.GetTarget(edge_geometry.eid);
const auto neighbor_geometries = getIntersectionOutgoingGeometries<false>(
graph, compressed_geometries, node_coordinates, neighbor_intersection_node);
@@ -327,7 +322,7 @@ getIntersectionGeometries(const util::NodeBasedDynamicGraph &graph,
std::find_if(neighbor_geometries.begin(),
neighbor_geometries.end(),
[&graph, &intersection_node](const auto &road) {
return graph.GetTarget(road.edge) == intersection_node;
return graph.GetTarget(road.eid) == intersection_node;
}));
BOOST_ASSERT(static_cast<std::size_t>(neighbor_curr) != neighbor_geometries.size());
const auto neighbor_prev = (neighbor_curr + neighbor_edges - 1) % neighbor_edges;
@@ -396,12 +391,12 @@ getIntersectionGeometries(const util::NodeBasedDynamicGraph &graph,
for (std::size_t index = 0; index < edges_number; ++index)
{
const auto &geometry = edge_geometries[index];
const auto remote_node = graph.GetTarget(geometry.edge);
const auto remote_node = graph.GetTarget(geometry.eid);
const auto incoming_edge = graph.FindEdge(remote_node, intersection_node);
edge_geometries[edges_number + index] = {incoming_edge,
util::bearing::reverse(geometry.initial_bearing),
util::bearing::reverse(geometry.perceived_bearing),
geometry.length};
geometry.segment_length};
}
// Enforce ordering of edges by IDs
@@ -414,9 +409,9 @@ inline auto findEdge(const IntersectionEdgeGeometries &geometries, const EdgeID
{
const auto it = std::lower_bound(
geometries.begin(), geometries.end(), edge, [](const auto &geometry, const auto edge) {
return geometry.edge < edge;
return geometry.eid < edge;
});
BOOST_ASSERT(it != geometries.end() && it->edge == edge);
BOOST_ASSERT(it != geometries.end() && it->eid == edge);
return it;
}
@@ -427,7 +422,7 @@ double findEdgeBearing(const IntersectionEdgeGeometries &geometries, const EdgeI
double findEdgeLength(const IntersectionEdgeGeometries &geometries, const EdgeID &edge)
{
return findEdge(geometries, edge)->length;
return findEdge(geometries, edge)->segment_length;
}
template <typename RestrictionsRange>
@@ -634,7 +629,7 @@ IntersectionView convertToIntersectionView(const util::NodeBasedDynamicGraph &gr
using IntersectionViewDataWithAngle = std::pair<IntersectionViewData, double>;
std::vector<IntersectionViewDataWithAngle> pre_intersection_view;
IntersectionViewData uturn{{SPECIAL_EDGEID, 0., 0.}, false, 0.};
IntersectionViewData uturn{{SPECIAL_EDGEID, 0., 0., 0.}, false, 0.};
std::size_t allowed_uturns_number = 0;
for (const auto &outgoing_edge : outgoing_edges)
{
@@ -643,7 +638,6 @@ IntersectionView convertToIntersectionView(const util::NodeBasedDynamicGraph &gr
};
const auto edge_it = findEdge(edge_geometries, outgoing_edge.edge);
const auto segment_length = edge_it->length;
const auto is_merged = merged_edges.count(outgoing_edge.edge) != 0;
const auto is_turn_allowed = intersection::isTurnAllowed(graph,
node_data_container,
@@ -673,8 +667,7 @@ IntersectionView convertToIntersectionView(const util::NodeBasedDynamicGraph &gr
const auto is_uturn_angle = is_uturn(turn_angle);
IntersectionViewData road{
{outgoing_edge.edge, outgoing_bearing, segment_length}, is_turn_allowed, turn_angle};
IntersectionViewData road{*edge_it, is_turn_allowed, turn_angle};
if (graph.GetTarget(outgoing_edge.edge) == incoming_edge.node)
{ // Save the true U-turn road to add later if no allowed U-turns will be added
@@ -772,12 +765,12 @@ IntersectionView getConnectedRoads(const util::NodeBasedDynamicGraph &graph,
for (std::size_t index = 0; index < edges_number; ++index)
{
const auto &geometry = edge_geometries[index];
const auto remote_node = graph.GetTarget(geometry.edge);
const auto remote_node = graph.GetTarget(geometry.eid);
const auto incoming_edge = graph.FindEdge(remote_node, intersection_node);
edge_geometries[edges_number + index] = {incoming_edge,
util::bearing::reverse(geometry.initial_bearing),
util::bearing::reverse(geometry.perceived_bearing),
geometry.length};
geometry.segment_length};
}
// Enforce ordering of edges by IDs
src/extractor/intersection/mergable_road_detector.cpp
+8 -8
View File
@@ -71,11 +71,11 @@ MergableRoadDetector::MergableRoadDetector(
}
bool MergableRoadDetector::CanMergeRoad(const NodeID intersection_node,
const IntersectionShapeData &lhs,
const IntersectionShapeData &rhs) const
const IntersectionEdgeGeometry &lhs,
const IntersectionEdgeGeometry &rhs) const
{
// roads should be somewhat close
if (angularDeviation(lhs.bearing, rhs.bearing) > MERGABLE_ANGLE_DIFFERENCE)
if (angularDeviation(lhs.perceived_bearing, rhs.perceived_bearing) > MERGABLE_ANGLE_DIFFERENCE)
return false;
const auto &lhs_edge = node_based_graph.GetEdgeData(lhs.eid);
@@ -126,7 +126,7 @@ bool MergableRoadDetector::IsDistinctFrom(const MergableRoadData &lhs,
const MergableRoadData &rhs) const
{
// needs to be far away
if (angularDeviation(lhs.bearing, rhs.bearing) > MERGABLE_ANGLE_DIFFERENCE)
if (angularDeviation(lhs.perceived_bearing, rhs.perceived_bearing) > MERGABLE_ANGLE_DIFFERENCE)
return true;
else // or it cannot have the same name
return !HaveIdenticalNames(
@@ -201,7 +201,7 @@ bool MergableRoadDetector::IsNarrowTriangle(const NodeID intersection_node,
SelectStraightmostRoadByNameAndOnlyChoice selector(
node_data_container.GetAnnotation(node_based_graph.GetEdgeData(lhs.eid).annotation_data)
.name_id,
lhs.bearing,
lhs.perceived_bearing,
/*requires entry=*/false,
false);
@@ -316,7 +316,7 @@ bool MergableRoadDetector::IsCircularShape(const NodeID intersection_node,
SelectStraightmostRoadByNameAndOnlyChoice selector(
node_data_container.GetAnnotation(node_based_graph.GetEdgeData(edge_id).annotation_data)
.name_id,
lhs.bearing,
lhs.perceived_bearing,
/*requires_entry=*/false,
false);
graph_walker.TraverseRoad(intersection_node, edge_id, accumulator, selector);
@@ -372,7 +372,7 @@ bool MergableRoadDetector::HaveSameDirection(const NodeID intersection_node,
const MergableRoadData &lhs,
const MergableRoadData &rhs) const
{
if (angularDeviation(lhs.bearing, rhs.bearing) > MERGABLE_ANGLE_DIFFERENCE)
if (angularDeviation(lhs.perceived_bearing, rhs.perceived_bearing) > MERGABLE_ANGLE_DIFFERENCE)
return false;
// Find a coordinate following a road that is far away
@@ -388,7 +388,7 @@ bool MergableRoadDetector::HaveSameDirection(const NodeID intersection_node,
SelectStraightmostRoadByNameAndOnlyChoice selector(
node_data_container.GetAnnotation(node_based_graph.GetEdgeData(edge_id).annotation_data)
.name_id,
lhs.bearing,
lhs.perceived_bearing,
/*requires_entry=*/false,
true);
graph_walker.TraverseRoad(intersection_node, edge_id, accumulator, selector);
src/extractor/intersection/node_based_graph_walker.cpp
+1 -1
View File
@@ -175,7 +175,7 @@ operator()(const NodeID /*nid*/,
((intersection.size() == 2 ||
intersection.findClosestTurn(STRAIGHT_ANGLE) == min_element) &&
angularDeviation(min_element->angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE) &&
angularDeviation(initial_bearing, min_element->bearing) < NARROW_TURN_ANGLE;
angularDeviation(initial_bearing, min_element->perceived_bearing) < NARROW_TURN_ANGLE;
if (has_valid_angle)
return (*min_element).eid;